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Book Section Year : 2020

Whole-Body Manipulation

Manipulation corps complet


Whole-body manipulation refers to the manipulation of objects that necessitate the use of all or most of the degrees of freedom of a robot beyond the use of its arms. This term usually applies to robots with kinematic structures that are more complicated than a fixed-base manipulator, for example, humanoid robots. Robots capable of whole-body manipulation are generally not grounded to the floor and very redundant. A humanoid robot moving a cabinet is a prime example where movement of the entire body is necessary to manipulate the object.
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hal-03045448 , version 1 (08-12-2020)



Olivier Stasse, Ludovic Righetti. Whole-Body Manipulation. Encyclopedia of Robotics, Springer Berlin Heidelberg, pp.1-9, 2020, 978-3-642-41610-1. ⟨10.1007/978-3-642-41610-1_187-1⟩. ⟨hal-03045448⟩
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